Adaptive Feedforward Vibration Control of Flexible Structure With Discrete Sliding Mode Controller

2006 ◽  
Author(s):  
J. Fei
Keyword(s):  
Control System ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
Feedforward Control ◽  
Flexible Beam ◽  
Sliding Mode Controller ◽  
Control Scheme ◽  
Feedforward Controller ◽  
Adaptive Lms ◽  
Adaptive Feedforward

This paper presents an adaptive feedforward control scheme using the least mean square (LMS) algorithm combined with sliding mode control for a flexible beam using piezoceramic actuator. A finite element model of the dynamic response of flexible beam system with PZT patches is derived and analyzed. Implementation of an adaptive LMS feedforward controller has the advantages of inherent stability and simplicity in design. The proposed adaptive LMS feedforward control system maintains the basic structure of the adaptive feedforward controller, but incorporates reference model in the system. Discrete sliding mode controller is added in the feedback loop to enhance the robustness of control system subjected to the variation of system parameters and external disturbances. Simulation results from flexible beam model verify the effectiveness of the proposed adaptive LMS feedforward with sliding mode control scheme and good disturbance rejection properties.

scholarly journals A New Control Method for Second-Order Multiple Models Control System Based on Global Sliding Mode

2018 ◽  
Vol 2018 ◽  
pp. 1-8 ◽  
Author(s):  
Dan-xu Zhang ◽  
Yang-wang Fang ◽  
Peng-fei Yang ◽  
You-li Wu ◽  
Tong-xin Liu
Keyword(s):  
Control System ◽  
Sliding Mode Control ◽  
Finite Time ◽  
Sliding Mode ◽  
Second Order ◽  
Multiple Models ◽  
Finite Time Convergence ◽  
Mode Control ◽  
Global Sliding Mode Control ◽  
Control Scheme

This paper proposed a finite time convergence global sliding mode control scheme for the second-order multiple models control system. Firstly, the global sliding surface without reaching law for a single model control system is designed and the tracking error finite time convergence and global stability are proved. Secondly, we generalize the above scheme to the second-order multimodel control system and obtain the global sliding mode control law. Then, the convergent and stable performances of the closed-loop control system with multimodel controllers are proved. Finally, a simulation example shows that the proposed control scheme is more effective and useful compared with the traditional sliding mode control scheme.

scholarly journals Sliding mode control-based system for the two-link robot arm

2019 ◽  
Vol 9 (4) ◽  
pp. 2771
Author(s):  
Trong-Thang Nguyen
Keyword(s):  
Control System ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
Dynamic Equations ◽  
Sliding Mode Controller ◽  
Robot Arm ◽  
System Quality ◽  
Static Error ◽  
Very High

In this research, the author presents the model of the two-link robot arm and its dynamic equations. Based on these dynamic equations, the author builds the sliding mode controller for each joint of the robot. The tasks of the controllers are controlling the Torque in each Joint of the robot in order that the angle coordinates of each link coincide with the desired values. The proposed algorithm and robot model are built on Matlab-Simulink to investigate the system quality. The results show that the quality of the control system is very high: the response angles of each link quickly reach the desired values, and the static error equal to zero.

scholarly journals Adaptive Feedforward Control of a Pressure Compensated Differential Cylinder

2020 ◽  
Vol 10 (21) ◽  
pp. 7847
Author(s):  
Konrad Johan Jensen ◽  
Morten Kjeld Ebbesen ◽  
Michael Rygaard Hansen
Keyword(s):  
Control System ◽  
Root Mean Square ◽  
Motion Control ◽  
Experimental Verification ◽  
Feedforward Control ◽  
Position Error ◽  
Mean Square ◽  
Model Uncertainties ◽  
Feedforward Controller ◽  
Adaptive Feedforward

This paper presents the design, simulation and experimental verification of adaptive feedforward motion control for a hydraulic differential cylinder. The proposed solution is implemented on a hydraulic loader crane. Based on common adaptation methods, a typical electro-hydraulic motion control system has been extended with a novel adaptive feedforward controller that has two separate feedforward states, i.e, one for each direction of motion. Simulations show convergence of the feedforward states, as well as 23% reduction in root mean square (RMS) cylinder position error compared to a fixed gain feedforward controller. The experiments show an even more pronounced advantage of the proposed controller, with an 80% reduction in RMS cylinder position error, and that the separate feedforward states are able to adapt to model uncertainties in both directions of motion.

Discrete Sliding Mode Controller Design Based on the Suboptimal LQR Approach

2003 ◽  
Author(s):  
Wen-Chun Yu ◽  
Gou-Jen Wang
Keyword(s):  
Control System ◽  
Sliding Mode Control ◽  
Performance Index ◽  
Control Algorithm ◽  
Position Control ◽  
Controller Design ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Control Loop ◽  
External Loads

A systematic and simple discrete sliding mode controller design scheme based on the suboptimal approach is presented. The behaviors of the control system can be determined through a preferred performance index. The AC servomotor position control is obtained using only the q-axis voltage control loop. The proposed method is simulated and experimented to verify the capability of this new sliding mode control algorithm. Properties such as easy implementation, fast resonse, and robust to external loads are demonstrated.

A sliding mode controller for vehicle active suspension systems with non-linearities

1998 ◽  
Vol 212 (2) ◽  
pp. 79-92 ◽  
Author(s):  
C Kim ◽  
P I Ro
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Active Suspension ◽  
Suspension System ◽  
Operating Conditions ◽  
Normal Operation ◽  
Sliding Mode Controller ◽  
Mode Control ◽  
Control Scheme ◽  
Quarter Car

In this paper, the control of an active suspension system using a quarter car model has been investigated. Due to the presence of non-linearities such as a hardening spring, a quadratic damping force and the ‘tyre lift-off’ phenomenon in a real suspension system, it is very difficult to achieve desired performance using linear control techniques. To ensure robustness for a wide range of operating conditions, a sliding mode controller has been designed and compared with an existing nonlinear adaptive control scheme in the literature. The sliding mode scheme utilizes a variant of a sky-hook damper system as a reference model which does not require real-time measurement of road input. The robustness of the scheme is investigated through computer simulation, and the efficacy of the scheme is shown both in time and frequency domains. In particular, when the vertical load to the sprung mass is changed, the sliding mode control resumes normal operation faster than the nonlinear self-tuning control and the passive system by factors of 3 and 6, respectively, and suspension deflection is kept to a minimum. Other results showed advantages of the sliding mode control scheme in a quarter car system with realistic non-linearities.

Backstepping Fuzzy Sliding Mode Control for a Three-Links Spatial Robot Based on Variable Rate Reaching Law

2011 ◽  
Vol 105-107 ◽  
pp. 2213-2216 ◽  
Author(s):  
Sheng Bin Hu ◽  
Min Xun Lu
Keyword(s):  
Sliding Mode Control ◽  
Fuzzy Controller ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Variable Rate ◽  
Reaching Law ◽  
Mode Control ◽  
Adjustment Time ◽  
Control Scheme ◽  
Fuzzy Sliding Mode

To achieve the tracing control of a three-links spatial robot, a backstepping fuzzy sliding mode controller based on variable rate reaching law is proposed in this paper. The sliding mode controller is designed by means of backstepping way. To reduce the adjustment time, a fuzzy controller is designed to adjust the slope of sliding mode surface. To diminish the chattering of traditional sliding mode control, the variable rate reaching law is proposed. The variable rate reaching law is composed of the distance from current point to sliding mode surface in phase plane. The simulation studies for the tracking control of a three-links spatial robot have been carried out. Simulation results show the validity of the proposed control scheme.

Fuzzy Adaptive Nonsingular Terminal Sliding Mode Control for a Three-Links Spatial Robot

2013 ◽  
Vol 655-657 ◽  
pp. 1048-1052
Author(s):  
Sheng Bin Hu ◽  
Wen Hua Lu ◽  
Xing Yuan Zhang ◽  
Hai Rong Xu ◽  
Da Min Cao
Keyword(s):  
Sliding Mode Control ◽  
Control Method ◽  
Sliding Mode ◽  
Lyapunov Theory ◽  
Sliding Mode Controller ◽  
Control Input ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Nonsingular Terminal Sliding Mode ◽  
Control Scheme

To achieve high performance tracing control of the three-links spatial robot, a nonsingular terminal fuzzy sliding mode control method is proposed in this paper. Firstly, the control method can efficiently avoid the singularity of the generally terminal sliding mode controller through designing nonsingular terminal sliding mode surface. Secondly, to diminish the chattering in the control input, a fuzzy controller is designed to adjust the gain of nonsingular terminal sliding mode controller according to the normal of nonsingular terminal sliding mode surface. The stability of the control scheme is verified by using Lyapunov theory. The proposed controller is then applied to the control of a three-links spatial robot. Simulation results show the validity of the proposed control scheme.

FUZZY SIMPLEX-TYPE SLIDING-MODE CONTROL

2013 ◽  
Vol 37 (3) ◽  
pp. 375-383
Author(s):  
Ta-Tau Chen ◽  
Sung-Chun Kuo
Keyword(s):  
Sliding Mode Control ◽  
Simplex Method ◽  
Fuzzy Logic Control ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Mode Control ◽  
Logic Control ◽  
Control Scheme ◽  
Simulation Results ◽  
System States

In this paper, a novel fuzzy simplex sliding-mode controller is proposed for controlling a multivariable nonlinear system. The fuzzy logic control (FLC) algorithm and simplex sliding-mode control (SSMC) theory are integrated to form the fuzzy simplex sliding mode control (FSSMC) scheme which improves the system states response and reduces system states chattering phenomenon. In this paper, at first, we introduce the principle of simplex method, and then develop fuzzy controls based on the simplex method. Finally, a numerical example is proposed to illustrate the advantages of the proposed controllers, the simulation results demonstrate that the fuzzy simplex type sliding mode control scheme is a good solution to the chattering problem in the simplex sliding mode control.

Fast Terminal Sliding-Mode Control with an Integral Filter Applied to a Longitudinal Axis of Flying Vehicles

2019 ◽  
Vol 16 (8) ◽  
pp. 3141-3153 ◽  
Author(s):  
Elham Ramezani ◽  
Seyyed Mohammad Hosseini Rostami
Keyword(s):  
Control System ◽  
Sliding Mode Control ◽  
Flight Control ◽  
Sliding Mode ◽  
Variable Structure ◽  
Sliding Mode Controller ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Fast Terminal Sliding Mode

The automatic pilot flight control system is undoubtedly one of the most important parts of the flying vehicle that provide stability and to operate appropriately in the guidance section. Considering to nonlinear, dynamic and time-varying system, structural and parametric uncertainties of the flying vehicles, in flight control, varietal control approach have to achieve stability, proper operation as well as decreasing effect of uncertainties and modeling errors. In this paper, designing of the longitudinal flying vehicles autopilot a Fast Terminal Sliding Mode Control (FTSMC). Variable structure systems because of the robustness effect on uncertainty and the effects on disturbances which a contributor to widespread efficiency. One of the methods for controlling the variable structure is a sliding mode, which is one of the nonlinear controllers that can control the system in the structured uncertainties and unstructured uncertainties. Additionally, in the method of classic sliding Mode Control is got convergence of states equilibrium point by an asymptotic curve. While proportional Integral Sliding Mode Control has the convergence of states to the equilibrium point in finite time. One of the issues is that finite time cannot determine the time of convergence when the state turn initial position to a final position. The proposed method is based on the Lyapunov stability theory and has guaranteed stability of the control system. The controller is robust to external disturbances and unmodified dynamics. Three types of controllers which are multi-input-multi-output (MIMO) system with random uncertainty are designed. Furthermore, the classic sliding mode controller, the proportional-integral sliding mode controller as well as the integral terminal sliding mode controller are reviewed. A glance at the results simulates shows an improved in the proposed method. Simulations are done using MATLAB software.

Sign in / Sign up

Export Citation Format

Share Document